无人机编队协同追踪控制律和编队信息架构

A UAV cooperative formation tracking controller is designed to address collisions between unmanned aerial vehicles (UAVs) due to the inconsistent information of attitude and position when they track a moving target, and the flight-stability of the designed controller is analyzed. The path planning of a single UAV and the orbit of a multi-UAV cooperative formation tracking a moving target are studied. A feedback control is used to ensure heading convergence for the path planning of a single UAV. Moreover, a guidance vector field method is proposed to achieve heading convergence, and it is able to analyze and solve the collision problem between the UAVs. Further, a multiple variables controller is used to maintain the cooperative UAV formation in a circular orbit during flight, and adaptive estimations for unknown wind conditions and moving targets are used to determine the flight stability of the formation in the circular orbit. Simulation results show that a formation of three UAVs rapidly get close to a target with the same attitude and position while remaining relatively stable, and the relative distance error between any two UAVs rapidly converges to the stable value in the case of unknown wind conditions and moving targets. This study provides an effective way for closely and cooperatively tracking target, and facilitates multi-UAV distributed controller design.